Autonomous Intelligent Mobile Robotics Jerry Weinberg Associate Professor & Andrew Lamonica Computer Science What is a Robot?

Robots are Computers with a Body A mobile robot is a computer with wheels (or legs or treads or other)

What is An Intelligent Robot? A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful manner

Humans vs. Robots People Robots Bones Mechanical Structure Muscles Effectors Senses Sensors Digestion/Respiration AC/DC Power Brain Computer Knowledge Program

Teleoperation vs. Autonomous

Autonomous Mobile Robots have to Solve Difficult Problems Where am I? Localization Problem How do I get there? Path Finding Problem How do I find the door? Object Recognition Problem What are you asking me to do? Language Understanding Problem How can I tell you the answer to your question? Speech Generation Problem

Where are the Robots? Industrial Robots

Where are the Robots? Service Robots

Where are the Robots? Exploration

Where are the Robots? Consumer Robots

Interesting Robots

Interesting Robots

Interesting Robots

Dealing with the Physical World A robot needs to be able to handle its environment or the environment must be altered and controlled. Close World Assumption The robot knows everything relevant no surprises Open World Assumption The robot must be able to handle unexpected events.

Spectrum of Robot Control

Deliberative/Hierarchical Robot Control Classic Robot Control Emphasizes Planning with world models Sense Plan Act

Reactive/Behavior-Based Robot Control Ignores world models “The world is its own best model” Sense Act

Finite State Machine

Hybrid Paradigm Combines Reactive and Deliberative Control Planner Act Sense

Meet Taz The Tour Guide Robot

How does Taz figure out where it is?

How you Control Taz Control Java Applet Runs on user’s computer Browses Robot Page Middle Man Stores Java Applet Stores Website Runs on Web Server The Client Runs on Robot’s Onboard PC P2OS Runs on Robot’s Microcomputer Directly Controls Robot Hardware Download Java Applet Send movement commands to Middle Man Web Material Middle Man sends commands on to client Client sends camera feed to Middle Man Client sends robot state info to Middle Man Client sends safe commands to robot P2OS sends state and location info to Client Middle Man sends camera feed to Applet Observe Java Applet

Technology and The Popular Culture A brief commentary by Jerry Weinberg, Ph.D.

Frankenstein: Monster or Misunderstood Victim Frankenstein: Monster or Misunderstood Victim? The personification of unchecked technology

Common Movie Theme: Technology left unchecked will kill you Common Movie Theme: Technology left unchecked will kill you! (Or at least enslave you) Metropolis: Technology is a Temptress

Variations on the Theme

Technology will destroy YOU!! (Even if it can’t take the stairs) Daleks from Dr. Who

Technology will assimilate YOU!

Wrong! You Already Have Been Assimilated

Technology will break your heart!

Does popular culture effect our view of technology? "[The Internet] hasn't made the world a better place," says Debra Walker, an organizer of the day's event. "It's just a vehicle for capitalization, a pyramid scheme. A few people have made a lot of money and the rest of us haven't and won't." Why the Internet is "Dangerous" The Internet is "dangerous" because it is a medium for the instantaneous and uncontrolled transmission of ideas. Death of a game addict Ill Hudson man took own life after long hours on Web Elizabeth Woolley, who says her son, Shawn, was addicted to EverQuest, wants to sue the makers.

The Real Question Who could kick whose butt?                                                                    

Daleks vs. Borg Winner: Daleks

Bad Robot of West World vs. Terminator Winner: Bad Robot of West World

Bad Terminator vs. Good Terminator Winner: Bad Terminator

The End or is it the Beginning?